#

vincentlu

2026-04-07 cc69250f7766581dbfd38f500021d03b29f0a4e0

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java

@@ -23,6 +23,7 @@
import com.zy.acs.manager.core.integrate.dto.OpenBusSubmitParam;
import com.zy.acs.manager.core.service.hik.HikOrderPublishService;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.core.utils.AgvAngleUtils;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
@@ -901,8 +902,6 @@
            if (Cools.isEmpty(agvId, segmentList)) { return pathTrace; }
            Date now = new Date();
            long actionPrepareSts = ActionStsType.PREPARE.val();
//            JSONObject storeDirection = configService.getVal("storeDirection", JSONObject.class);
            int angleOffsetVal = configService.getVal("mapAngleOffsetVal", Integer.class);
//            Double defaultShelfDepth = configService.getVal("defaultShelfDepth", Double.class);
//            defaultShelfDepth = Optional.ofNullable(defaultShelfDepth).orElse((double) 0);
            String agvNo = agvService.getAgvNo(agvId);
@@ -951,7 +950,7 @@

                        Code nextCode = codeService.getCacheByData(next);
                        // 车头朝前的下一个行走方向
                        Double nextDirection = mapService.calculateDirection(lastCode, nextCode, angleOffsetVal);
                        Double nextDirection = AgvAngleUtils.calculateDirection(lastCode, nextCode, agvModel);

                        // 反向角
                        final double oppLastDir = (lastDirection + 180) % 360;